In this paper control of a flexible joint manipulator is designed using an adaptive output-feedback controller based on a backstepping design. The parameters of system are assumed to be unknown and only motor position and link position measurements are used for the synthesis of the controller. A canonical state representation of the system is derived and filters are designed to obtain the estim...

This correspondence considers a problem of robust impulse control of uncertain singular systems by decentralized output-feedback. It derives a perturbation upper bound that ensures the existence of decentralized output-feedback control law such that the closed-loop system remains both regularity and impulse free for any allowable perturbations. Algebraic sufficient conditions are also presented...

A hnite. indecomposabic partially ordered set is said to be critically indecomposahlc if. whenever an clement is removed. the resulting induced partially ordered set is not indccomposabic. The same terminology can be applied to graphs. tournaments, or any other relational structure whose relations are binary and irrcflexive. It will be shown in this paper that critically indecomposable partiall...